Inspection system, server device, and inspection method

Abstract

An inspection system of remotely or autonomously inspecting a mobile body movable through unattended operation includes: a processor that generates and outputs a control instruction that causes the mobile body to operate; and executes an abnormality process in a case where a difference obtained by comparing at least two of physical quantities for the mobile body as a target is more than a criterion value, the physical quantities including a first physical quantity related to operation of the mobile body achieved according to the control instruction, the first physical quantity being calculated using the control instruction, a second physical quantity related to the operation, calculated using a detection result from an internal sensor mounted on the mobile body, and a third physical quantity related to the operation, calculated using a detection result from an external sensor positioned outside the mobile body.

What is claimed is: 
     
         1 . An inspection system of remotely or autonomously inspecting a mobile body that is movable through unattended operation, the inspection system comprising:
 a processor, wherein   the processor is configured to:   generate and output a control instruction that causes the mobile body to operate; and   execute an abnormality process determined in advance in a case where a difference obtained by comparing at least two of physical quantities for the mobile body as a target is more than a criterion value determined in advance, the physical quantities including a first physical quantity related to operation of the mobile body achieved according to the control instruction, the first physical quantity being calculated using the control instruction, a second physical quantity related to the operation, calculated using a result of a detection by an internal sensor mounted on the mobile body, and a third physical quantity related to the operation, calculated using a result of a detection by an external sensor positioned outside the mobile body.   
     
     
         2 . The inspection system according to  claim 1 , further comprising a server device including the processor and configured to transmit the control instruction to the mobile body from outside of the mobile body, wherein the abnormality process includes at least one of:
 a process of determining that there is an abnormality with at least one of the server device, a surrounding environment of the mobile body that performs the operation, the mobile body as the target, and the external sensor;   a process of indicating occurrence of the abnormality;   a process of transmitting the control instruction of braking the mobile body as the target from the server device to the mobile body as the target;   a process of stopping the server device; and   a process of stopping the external sensor.   
     
     
         3 . The inspection system according to  claim 2 , wherein the processor is configured to execute, as the abnormality process, a process of determining that there is an abnormality with at least one of the server device, the surrounding environment, and the mobile body as the target, in a case where a first difference is more than a first criterion value determined in advance, the first difference being a difference between the first physical quantity and the second physical quantity compared with each other for the mobile body as the target. 
     
     
         4 . The inspection system according to  claim 3 , wherein the processor is configured to determine that there is an abnormality with at least one of the surrounding environment and the mobile body as the target in a case where a first condition determined in advance related to normality of the server device is met and the first difference is more than the first criterion value. 
     
     
         5 . The inspection system according to  claim 4 , wherein the first condition includes a condition that in a predetermined period a first number of times, when the first difference for a plurality of mobile bodies that are different from the mobile body as the target is more than the first criterion value, is equal to or less than a predetermined number of times. 
     
     
         6 . The inspection system according to  claim 4 , wherein the first condition includes a condition that a first operation determined in advance, which excludes the server device from targets for an abnormality determination, is executed on a reception unit configured to receive an operation from a user. 
     
     
         7 . The inspection system according to  claim 3 , wherein
 the processor is configured to determine that there is an abnormality with at least one of the server device and the mobile body as the target in a case where a second condition determined in advance related to normality of the surrounding environment is met and the first difference is more than the first criterion value, and
 the second condition includes:
 a condition that a second operation determined in advance, which excludes the surrounding environment from targets for an abnormality determination, is executed on a reception unit configured to receive an operation from a user, and 
 a condition that the processor made determination that there is no abnormality with the surrounding environment by using a sensor that detects the surrounding environment. 
 
   
     
     
         8 . The inspection system according to  claim 3 , wherein
 the processor is configured to determine that there is an abnormality with at least one of the server device and the surrounding environment in a case where a third condition determined in advance related to normality of the mobile body as the target is met and the first difference is more than the first criterion value, and   the third condition includes a condition that a third operation determined in advance, which excludes the mobile body as the target from targets for an abnormality determination, is executed on a reception unit configured to receive an operation from a user.   
     
     
         9 . The inspection system according to  claim 2 , wherein the processor is configured to execute, as the abnormality process, a process of determining that there is an abnormality with at least one of the internal sensor mounted on the mobile body as the target and the external sensor in a case where a second difference is more than a second criterion value determined in advance, the second difference being a difference between the second physical quantity and the third physical quantity compared with each other. 
     
     
         10 . The inspection system according to  claim 9 , wherein
 the processor is configured to determine that there is an abnormality with the external sensor in a case where a fourth condition determined in advance related to normality of the internal sensor mounted on the mobile body as the target is met and the second difference is more than the second criterion value, and   the fourth condition includes a condition that a fourth operation determined in advance, which excludes the internal sensor from targets for an abnormality determination, is executed on a reception unit configured to receive an operation from a user.   
     
     
         11 . The inspection system according to  claim 10 , wherein
 the processor determines that there is an abnormality with the internal sensor in a case where a fifth condition determined in advance related to normality of the external sensor is met and the second difference is more than the second criterion value, and   the fifth condition includes a condition that a fifth determined in advance, which excludes the external sensor from targets for an abnormality determination, is executed on a reception unit configured to receive an operation from a user.   
     
     
         12 . The inspection system according to  claim 2 , wherein the processor is configured to execute, as the abnormality process, a process of determining that there is an abnormality with at least one of the server device, the surrounding environment, the mobile body as the target, and the external sensor in a case where a third difference is more than a third criterion value determined in advance, the third difference being a difference between the first physical quantity and the third physical quantity compared with each other. 
     
     
         13 . The inspection system according to  claim 12 , wherein
 the processor is configured to determine that there is an abnormality with at least one of the surrounding environment, the external sensor, and the mobile body as the target in a case where a first condition determined in advance related to normality of the server device is met and the third difference is more than the third criterion value, and   the first condition includes a condition that a first operation determined in advance, which excludes the server device from targets for an abnormality determination, is executed on a reception unit configured to receive an operation from a user.   
     
     
         14 . The inspection system according to  claim 12 , wherein
 the processor is configured to determine that there is an abnormality with at least one of the server device, the mobile body as the target, and the external sensor in a case where a second condition determined in advance related to normality of the surrounding environment is met and the third difference is more than the third criterion value, and   the second condition includes:
 a condition that a second operation determined in advance, which excludes the surrounding environment from targets for an abnormality determination, is executed on a reception unit configured to receive an operation from a user, and 
   a condition that the processor made determination that there is no abnormality with the surrounding environment by using a sensor that detects the surrounding environment.   
     
     
         15 . The inspection system according to  claim 12 , wherein
 the processor is configured to determine that there is an abnormality with at least one of the server device, the surrounding environment, and the external sensor in a case where a third condition determined in advance related to normality of the mobile body as the target is met and the third difference is more than the third criterion value, and   the third condition includes a condition that a third operation determined in advance, which excludes the mobile body as the target from targets for an abnormality determination, is executed on a reception unit configured to receive an operation from a user.   
     
     
         16 . The inspection system according to  claim 12 , wherein
 the processor is configured to determine that there is an abnormality with at least one of the server device, the surrounding environment, and the mobile body as the target in a case where a fifth condition determined in advance related to normality of the external sensor is met and the third difference is more than the third criterion value, and   the fifth condition includes a condition that a fifth operation determined in advance, which excludes the external sensor from targets for an abnormality determination, is executed on a reception unit configured to receive an operation from a user.   
     
     
         17 . The inspection system according to  claim 2 , wherein the processor is configured to:
 execute, as the abnormality process, a process of determining that there is an abnormality with the mobile body as the target in a case where a first difference is more than a first criterion value determined in advance, a second difference is more than a second criterion value determined in advance, and a third difference is equal to or less than a third criterion value determined in advance, the first difference being a difference between the first physical quantity and the second physical quantity compared with each other, the second difference being a difference between the second physical quantity and the third physical quantity compared with each other, and the third difference being a difference between the first physical quantity and the third physical quantity compared with each other;   execute, as the abnormality process, a process of determining that there is an abnormality with the server device in a case where the first difference is more than the first criterion value, the second difference is equal to or less than the second criterion value, and the third difference is more than the third criterion value; and   execute, as the abnormality process, a process of determining that there is an abnormality with the external sensor in a case where the first difference is equal to or less than the first criterion value, the second difference is more than the second criterion value, and the third difference is more than the third criterion value.   
     
     
         18 . The inspection system according to  claim 1 , wherein the external sensor is an unattended operation sensor that is used to move the mobile body through the unattended operation. 
     
     
         19 . A server device of remotely or autonomously inspecting a mobile body that is movable through unattended operation, the server device comprising:
 a processor, wherein   the processor is configured to:   generate a control instruction that causes the mobile body to operate, and transmit the control instruction to the mobile body from outside of the mobile body; and   execute an abnormality process determined in advance in a case where a difference obtained by comparing at least two of physical quantities for the mobile body as a target is more than a criterion value determined in advance, the physical quantities including a first physical quantity related to operation of the mobile body achieved according to the control instruction, the first physical quantity being calculated using the control instruction, a second physical quantity related to the operation, calculated using a result of a detection by an internal sensor mounted on the mobile body to detect a state of the mobile body, and a third physical quantity related to the operation, calculated using a result of a detection by an external sensor positioned outside the mobile body.   
     
     
         20 . An inspection method of remotely or autonomously inspecting a mobile body that is movable through unattended operation, the inspection method comprising:
 generating and outputting a control instruction that causes the mobile body as a target to operate; and   executing an abnormality process determined in advance in a case where a difference obtained by comparing at least two of physical quantities for the mobile body as the target is more than a criterion value determined in advance, the physical quantities including a first physical quantity related to operation of the mobile body executed according to the control instruction, the first physical quantity being calculated using the control instruction, a second physical quantity related to the operation, calculated using a result of a detection by an internal sensor mounted on the mobile body to detect a state of the mobile body from inside of the mobile body, and a third physical quantity related to the operation, calculated using a result of a detection by an external sensor positioned outside the mobile body.